On Tue, Mar 26, 2019 at 06:52:33AM +0000, Anson Huang wrote:
> i.MX7ULP has TPM(Low Power Timer/Pulse Width Modulation Module)
> inside, it can support multiple PWM channels, all the channels
> share same counter and period setting, but each channel can
> configure its duty and polarity independently.
>
> There are several TPM modules in i.MX7ULP, the number of channels
> in TPM modules are different, it can be read from each TPM module's
> PARAM register.
>
> Signed-off-by: Anson Huang <[email protected]>
> ---
> Changes since V9:
> - improve some comments;
> - merge period_duty setting and config_hw to be 1 function, avoid
> duplicated duty settings
> in some scenario;
> - use non "devm_" function for channel data allocation and free.
> ---
> drivers/pwm/Kconfig | 11 ++
> drivers/pwm/Makefile | 1 +
> drivers/pwm/pwm-imx-tpm.c | 463
> ++++++++++++++++++++++++++++++++++++++++++++++
> 3 files changed, 475 insertions(+)
> create mode 100644 drivers/pwm/pwm-imx-tpm.c
>
> diff --git a/drivers/pwm/Kconfig b/drivers/pwm/Kconfig
> index 54f8238..3ea0391 100644
> --- a/drivers/pwm/Kconfig
> +++ b/drivers/pwm/Kconfig
> @@ -210,6 +210,17 @@ config PWM_IMX27
> To compile this driver as a module, choose M here: the module
> will be called pwm-imx27.
>
> +config PWM_IMX_TPM
> + tristate "i.MX TPM PWM support"
> + depends on ARCH_MXC || COMPILE_TEST
> + depends on HAVE_CLK && HAS_IOMEM
> + help
> + Generic PWM framework driver for i.MX7ULP TPM module, TPM's full
> + name is Low Power Timer/Pulse Width Modulation Module.
> +
> + To compile this driver as a module, choose M here: the module
> + will be called pwm-imx-tpm.
> +
> config PWM_JZ4740
> tristate "Ingenic JZ47xx PWM support"
> depends on MACH_INGENIC
> diff --git a/drivers/pwm/Makefile b/drivers/pwm/Makefile
> index 448825e..c368599 100644
> --- a/drivers/pwm/Makefile
> +++ b/drivers/pwm/Makefile
> @@ -19,6 +19,7 @@ obj-$(CONFIG_PWM_HIBVT) += pwm-hibvt.o
> obj-$(CONFIG_PWM_IMG) += pwm-img.o
> obj-$(CONFIG_PWM_IMX1) += pwm-imx1.o
> obj-$(CONFIG_PWM_IMX27) += pwm-imx27.o
> +obj-$(CONFIG_PWM_IMX_TPM) += pwm-imx-tpm.o
> obj-$(CONFIG_PWM_JZ4740) += pwm-jz4740.o
> obj-$(CONFIG_PWM_LP3943) += pwm-lp3943.o
> obj-$(CONFIG_PWM_LPC18XX_SCT) += pwm-lpc18xx-sct.o
> diff --git a/drivers/pwm/pwm-imx-tpm.c b/drivers/pwm/pwm-imx-tpm.c
> new file mode 100644
> index 0000000..e1e9b68
> --- /dev/null
> +++ b/drivers/pwm/pwm-imx-tpm.c
> @@ -0,0 +1,463 @@
> +// SPDX-License-Identifier: GPL-2.0
> +/*
> + * Copyright 2018-2019 NXP.
> + *
> + * Limitations:
> + * - The TPM counter and period counter are shared between
> + * multiple channels, so all channels should use same period
> + * settings.
> + * - Changes to polarity cannot be latched at the time of the
> + * next period start.
> + * - Changing period and duty cycle together isn't atomic,
> + * with the wrong timing it might happen that a period is
> + * produced with old duty cycle but new period settings.
> + */
> +
> +#include <linux/bitfield.h>
> +#include <linux/bitops.h>
> +#include <linux/clk.h>
> +#include <linux/err.h>
> +#include <linux/io.h>
> +#include <linux/log2.h>
> +#include <linux/module.h>
> +#include <linux/of.h>
> +#include <linux/of_address.h>
> +#include <linux/platform_device.h>
> +#include <linux/pwm.h>
> +#include <linux/slab.h>
> +
> +#define PWM_IMX_TPM_PARAM 0x4
> +#define PWM_IMX_TPM_GLOBAL 0x8
> +#define PWM_IMX_TPM_SC 0x10
> +#define PWM_IMX_TPM_CNT 0x14
> +#define PWM_IMX_TPM_MOD 0x18
> +#define PWM_IMX_TPM_CnSC(n) (0x20 + (n) * 0x8)
> +#define PWM_IMX_TPM_CnV(n) (0x24 + (n) * 0x8)
> +
> +#define PWM_IMX_TPM_PARAM_CHAN GENMASK(7, 0)
> +
> +#define PWM_IMX_TPM_SC_PS GENMASK(2, 0)
> +#define PWM_IMX_TPM_SC_CMOD GENMASK(4, 3)
> +#define PWM_IMX_TPM_SC_CMOD_INC_EVERY_CLK FIELD_PREP(PWM_IMX_TPM_SC_CMOD,
> 1)
> +#define PWM_IMX_TPM_SC_CPWMS BIT(5)
> +
> +#define PWM_IMX_TPM_CnSC_CHF BIT(7)
> +#define PWM_IMX_TPM_CnSC_MSB BIT(5)
> +#define PWM_IMX_TPM_CnSC_MSA BIT(4)
> +
> +/*
> + * The reference manual describes this field as two separate bits. The
> + * semantic of the two bits isn't orthogonal though, so they are treated
> + * together as a 2-bit field here.
> + */
> +#define PWM_IMX_TPM_CnSC_ELS GENMASK(3, 2)
> +#define PWM_IMX_TPM_CnSC_ELS_POLARITY_INVERSED 0x1
> +#define PWM_IMX_TPM_CnSC_ELS_INVERSED
> FIELD_PREP(PWM_IMX_TPM_CnSC_ELS, 1)
This looks strange. The only usage of
PWM_IMX_TPM_CnSC_ELS_POLARITY_INVERSED is:
if (FIELD_GET(PWM_IMX_TPM_CnSC_ELS, val) ==
PWM_IMX_TPM_CnSC_ELS_POLARITY_INVERSED)
If you change this to
if ((val & PWM_IMX_TPM_CnSC_ELS) ==
PWM_IMX_TPM_CnSC_ELS_INVERSED)
you can drop the PWM_IMX_TPM_CnSC_ELS_POLARITY_INVERSED symbol.
> +#define PWM_IMX_TPM_CnSC_ELS_NORMAL FIELD_PREP(PWM_IMX_TPM_CnSC_ELS, 2)
> +
> +
> +#define PWM_IMX_TPM_MOD_WIDTH 16
> +#define PWM_IMX_TPM_MOD_MOD GENMASK(PWM_IMX_TPM_MOD_WIDTH - 1, 0)
> +
> +struct imx_tpm_pwm_chip {
> + struct pwm_chip chip;
> + struct clk *clk;
> + void __iomem *base;
> + struct mutex lock;
> + u32 user_count;
> + u32 enable_count;
> + u32 real_period;
> +};
> +
> +struct imx_tpm_pwm_param {
> + u8 prescale;
> + u32 mod;
> + u32 val;
> +};
> +
> +struct imx_tpm_pwm_channel {
> + enum pwm_polarity polarity;
> +};
> +
> +static inline struct imx_tpm_pwm_chip *to_imx_tpm_pwm_chip(struct pwm_chip
> *chip)
> +{
> + return container_of(chip, struct imx_tpm_pwm_chip, chip);
> +}
> +
> +static int pwm_imx_tpm_round_state(struct pwm_chip *chip,
> + struct imx_tpm_pwm_param *p,
> + struct pwm_state *state,
> + struct pwm_state *real_state)
> +{
> + struct imx_tpm_pwm_chip *tpm = to_imx_tpm_pwm_chip(chip);
> + u32 rate, prescale, period_count, clock_unit;
> + u64 tmp;
> +
> + rate = clk_get_rate(tpm->clk);
> + tmp = (u64)state->period * rate;
> + clock_unit = DIV_ROUND_CLOSEST_ULL(tmp, NSEC_PER_SEC);
> + if (clock_unit <= PWM_IMX_TPM_MOD_MOD)
> + prescale = 0;
> + else
> + prescale = ilog2(clock_unit) + 1 - PWM_IMX_TPM_MOD_WIDTH;
> +
> + if ((!FIELD_FIT(PWM_IMX_TPM_SC_PS, prescale)))
> + return -ERANGE;
> + p->prescale = prescale;
> +
> + period_count = (clock_unit + ((1 << prescale) >> 1)) >> prescale;
> + p->mod = period_count;
> +
> + /* calculate real period HW can support */
> + tmp = (u64)period_count << prescale;
> + tmp *= NSEC_PER_SEC;
> + real_state->period = DIV_ROUND_CLOSEST_ULL(tmp, rate);
> +
> + /*
> + * if eventually the PWM output is inactive, either
> + * duty cycle is 0 or status is disabled, need to
> + * make sure the output pin is inactive.
> + */
> + if (!state->enabled)
> + real_state->duty_cycle = 0;
> + else
> + real_state->duty_cycle = state->duty_cycle;
> +
> + tmp = (u64)p->mod * real_state->duty_cycle;
> + p->val = DIV_ROUND_CLOSEST_ULL(tmp, real_state->period);
> +
> + real_state->polarity = state->polarity;
> + real_state->enabled = state->enabled;
> +
> + return 0;
> +}
> +
> +static void pwm_imx_tpm_get_state(struct pwm_chip *chip,
> + struct pwm_device *pwm,
> + struct pwm_state *state)
> +{
> + struct imx_tpm_pwm_chip *tpm = to_imx_tpm_pwm_chip(chip);
> + struct imx_tpm_pwm_channel *chan = pwm_get_chip_data(pwm);
> + u32 rate, val, prescale;
> + u64 tmp;
> +
> + /* get period */
> + state->period = tpm->real_period;
> +
> + /* get duty cycle */
> + rate = clk_get_rate(tpm->clk);
> + val = readl(tpm->base + PWM_IMX_TPM_SC);
> + prescale = FIELD_GET(PWM_IMX_TPM_SC_PS, val);
> + tmp = readl(tpm->base + PWM_IMX_TPM_CnV(pwm->hwpwm));
> + tmp = (tmp << prescale) * NSEC_PER_SEC;
> + state->duty_cycle = DIV_ROUND_CLOSEST_ULL(tmp, rate);
> +
> + /* get polarity */
> + if (chan) {
> + state->polarity = chan->polarity;
> + } else {
> + /* in case no channel requested yet, return HW status */
> + val = readl(tpm->base + PWM_IMX_TPM_CnSC(pwm->hwpwm));
> + if (FIELD_GET(PWM_IMX_TPM_CnSC_ELS, val) ==
> + PWM_IMX_TPM_CnSC_ELS_POLARITY_INVERSED)
> + state->polarity = PWM_POLARITY_INVERSED;
> + else
> + /*
> + * Assume reserved values (2b00 and 2b11) to yield
> + * normal polarity.
> + */
> + state->polarity = PWM_POLARITY_NORMAL;
> + }
What is the good reason to prefer chan->polarity over reading out the
hardware state?
> + /* get channel status */
> + state->enabled = FIELD_GET(PWM_IMX_TPM_CnSC_ELS, val) ? true : false;
> +}
> +
> +/* this function is supposed to be called with mutex hold */
> +static int pwm_imx_tpm_apply_hw(struct pwm_chip *chip,
> + struct pwm_device *pwm,
> + struct pwm_state *state,
> + struct imx_tpm_pwm_param *p)
> +{
> + struct imx_tpm_pwm_chip *tpm = to_imx_tpm_pwm_chip(chip);
> + struct imx_tpm_pwm_channel *chan = pwm_get_chip_data(pwm);
> + bool period_update = false;
> + bool duty_update = false;
> + u32 val, cmod, cur_prescale;
> + unsigned long timeout;
> + struct pwm_state c;
> +
> + if (state->period != tpm->real_period) {
> + /*
> + * TPM counter is shared by multiple channels, so
> + * prescale and period can NOT be modified when
> + * there are multiple channels in use with different
> + * period settings.
> + */
> + if (tpm->user_count > 1)
> + return -EBUSY;
> +
> + val = readl(tpm->base + PWM_IMX_TPM_SC);
> + cmod = FIELD_GET(PWM_IMX_TPM_SC_CMOD, val);
> + cur_prescale = FIELD_GET(PWM_IMX_TPM_SC_PS, val);
> + if (cmod && cur_prescale != p->prescale)
> + return -EBUSY;
> +
> + /* set TPM counter prescale */
> + val &= ~PWM_IMX_TPM_SC_PS;
> + val |= FIELD_PREP(PWM_IMX_TPM_SC_PS, p->prescale);
> + writel(val, tpm->base + PWM_IMX_TPM_SC);
> +
> + /*
> + * set period count:
> + * if the PWM is disabled (CMOD[1:0] = 2b00), then MOD register
> + * is updated when MOD register is written.
> + *
> + * if the PWM is enabled (CMOD[1:0] ≠ 2b00), the period length
> + * is latched into hardware when the next period starts.
> + */
> + writel(p->mod, tpm->base + PWM_IMX_TPM_MOD);
> + tpm->real_period = state->period;
> + period_update = true;
> + }
> +
> + pwm_imx_tpm_get_state(chip, pwm, &c);
If you move this call above the previous if block you can use c.period
instead of tpm->real_period which is easier to follow.
> + if (state->duty_cycle != c.duty_cycle) {
> + /*
> + * set channel value:
> + * if the PWM is disabled (CMOD[1:0] = 2b00), then CnV register
> + * is updated when CnV register is written.
> + *
> + * if the PWM is enabled (CMOD[1:0] ≠ 2b00), the duty length
> + * is latched into hardware when the next period starts.
> + */
> + writel(p->val, tpm->base + PWM_IMX_TPM_CnV(pwm->hwpwm));
> + duty_update = true;
> + }
> +
> + /* make sure MOD & CnV registers are updated */
> + if (period_update || duty_update) {
> + timeout = jiffies + msecs_to_jiffies(tpm->real_period /
> + NSEC_PER_MSEC + 1);
> + while (readl(tpm->base + PWM_IMX_TPM_MOD) != p->mod
> + || readl(tpm->base + PWM_IMX_TPM_CnV(pwm->hwpwm))
> + != p->val) {
> + if (time_after(jiffies, timeout))
> + return -ETIME;
> + cpu_relax();
> + }
> + }
If the PWM is running you wait in the above loop until the new values
are active but before you configure the period. I think in the case
where the PWM is active and a change of polarity is requested it would
be more correct to refuse the change.
> + val = readl(tpm->base + PWM_IMX_TPM_CnSC(pwm->hwpwm));
> + val &= ~(PWM_IMX_TPM_CnSC_ELS | PWM_IMX_TPM_CnSC_MSA |
> + PWM_IMX_TPM_CnSC_MSB);
> + if (state->enabled) {
> + /*
> + * set polarity (for edge-aligned PWM modes)
> + *
> + * ELS[1:0] = 2b10 yields normal polarity behaviour,
> + * ELS[1:0] = 2b01 yields inversed polarity.
> + * The other values are reserved.
> + *
> + * polarity settings will enabled/disable output status
> + * immediately, so if the channel is disabled, need to
> + * make sure MSA/MSB/ELS are set to 0 which means channel
> + * disabled.
I don't understand this comment. Either ELS = 0 is reserved or it can be
used. What is an output status?
> + val |= PWM_IMX_TPM_CnSC_MSB;
> + val |= (state->polarity == PWM_POLARITY_NORMAL) ?
> + PWM_IMX_TPM_CnSC_ELS_NORMAL :
> + PWM_IMX_TPM_CnSC_ELS_INVERSED;
> + }
> + writel(val, tpm->base + PWM_IMX_TPM_CnSC(pwm->hwpwm));
> +
> + /* control the counter status */
> + if (state->enabled != c.enabled) {
> + val = readl(tpm->base + PWM_IMX_TPM_SC);
> + if (state->enabled) {
> + if (++tpm->enable_count == 1)
> + val |= PWM_IMX_TPM_SC_CMOD_INC_EVERY_CLK;
> + } else {
> + if (--tpm->enable_count == 0)
> + val &= ~PWM_IMX_TPM_SC_CMOD;
> + }
> + writel(val, tpm->base + PWM_IMX_TPM_SC);
> + }
> +
> + /* save last polarity setting */
> + chan->polarity = state->polarity;
> +
> + return 0;
> +}
> +
> +static int pwm_imx_tpm_apply(struct pwm_chip *chip,
> + struct pwm_device *pwm,
> + struct pwm_state *state)
> +{
> + struct imx_tpm_pwm_chip *tpm = to_imx_tpm_pwm_chip(chip);
> + struct imx_tpm_pwm_param param;
> + struct pwm_state real_state;
> + int ret;
> +
> + ret = pwm_imx_tpm_round_state(chip, ¶m, state, &real_state);
> + if (ret)
> + return -EINVAL;
return ret;
> +
> + mutex_lock(&tpm->lock);
> + ret = pwm_imx_tpm_apply_hw(chip, pwm, &real_state, ¶m);
IMHO it would be nice if the parameters to pwm_imx_tpm_round_state and
pwm_imx_tpm_apply_hw would be the same an in the same order. Apart from
being nicer to read this is also easier for the compiler.
> + mutex_unlock(&tpm->lock);
> +
> + return ret;
> +}
> +
> +static int pwm_imx_tpm_request(struct pwm_chip *chip, struct pwm_device *pwm)
> +{
> + struct imx_tpm_pwm_chip *tpm = to_imx_tpm_pwm_chip(chip);
> + struct imx_tpm_pwm_channel *chan;
> +
> + chan = kzalloc(sizeof(*chan), GFP_KERNEL);
> + if (!chan)
> + return -ENOMEM;
> +
> + pwm_set_chip_data(pwm, chan);
> +
> + mutex_lock(&tpm->lock);
> + tpm->user_count++;
> + mutex_unlock(&tpm->lock);
> +
> + return 0;
> +}
> +
> +static void pwm_imx_tpm_free(struct pwm_chip *chip, struct pwm_device *pwm)
> +{
> + struct imx_tpm_pwm_chip *tpm = to_imx_tpm_pwm_chip(chip);
> +
> + mutex_lock(&tpm->lock);
> + tpm->user_count--;
> + mutex_unlock(&tpm->lock);
> +
> + kfree(pwm_get_chip_data(pwm));
> + pwm_set_chip_data(pwm, NULL);
> +}
> +
> +static const struct pwm_ops imx_tpm_pwm_ops = {
> + .request = pwm_imx_tpm_request,
> + .free = pwm_imx_tpm_free,
> + .get_state = pwm_imx_tpm_get_state,
> + .apply = pwm_imx_tpm_apply,
> + .owner = THIS_MODULE,
> +};
> +
> +static int pwm_imx_tpm_probe(struct platform_device *pdev)
> +{
> + struct imx_tpm_pwm_chip *tpm;
> + int ret;
> + u32 val;
> +
> + tpm = devm_kzalloc(&pdev->dev, sizeof(*tpm), GFP_KERNEL);
> + if (!tpm)
> + return -ENOMEM;
> +
> + platform_set_drvdata(pdev, tpm);
> +
> + tpm->base = devm_platform_ioremap_resource(pdev, 0);
> + if (IS_ERR(tpm->base))
> + return PTR_ERR(tpm->base);
> +
> + tpm->clk = devm_clk_get(&pdev->dev, NULL);
> + if (IS_ERR(tpm->clk)) {
> + ret = PTR_ERR(tpm->clk);
> + if (ret != -EPROBE_DEFER)
> + dev_err(&pdev->dev,
> + "failed to get PWM clock: %d\n", ret);
> + return ret;
> + }
> +
> + ret = clk_prepare_enable(tpm->clk);
> + if (ret) {
> + dev_err(&pdev->dev,
> + "failed to prepare or enable clock: %d\n", ret);
> + return ret;
> + }
> +
> + tpm->chip.dev = &pdev->dev;
> + tpm->chip.ops = &imx_tpm_pwm_ops;
> + tpm->chip.base = -1;
> + tpm->chip.of_xlate = of_pwm_xlate_with_flags;
> + tpm->chip.of_pwm_n_cells = 3;
> +
> + /* get number of channels */
> + val = readl(tpm->base + PWM_IMX_TPM_PARAM);
> + tpm->chip.npwm = FIELD_GET(PWM_IMX_TPM_PARAM_CHAN, val);
> +
> + mutex_init(&tpm->lock);
> +
> + ret = pwmchip_add(&tpm->chip);
> + if (ret) {
> + dev_err(&pdev->dev, "failed to add PWM chip: %d\n", ret);
> + clk_disable_unprepare(tpm->clk);
> + }
> +
> + return ret;
> +}
> +
> +static int pwm_imx_tpm_remove(struct platform_device *pdev)
> +{
> + struct imx_tpm_pwm_chip *tpm = platform_get_drvdata(pdev);
> + int ret = pwmchip_remove(&tpm->chip);
> +
> + clk_disable_unprepare(tpm->clk);
It's unfortunate that pwmchip_remove can fail as the return value of
pwm_imx_tpm_remove is ignored. Also disabling the clock is bad then.
Fixing this is out of scope for this patch though. This needs changes in
the pwm core.
> + return ret;
> +}
Best regards
Uwe
--
Pengutronix e.K. | Uwe Kleine-König |
Industrial Linux Solutions | http://www.pengutronix.de/ |
